ResearchBenchmarksLocalization on Simulation CaseStudy-03Localization on Simulation CaseStudy-03Follow0.009ATE Translation [m]BIM-Loc0.004920.032460.060.08754Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation [m]ATE Rotation [deg]Scan-to-BIM Distance [m]BIM-Loc2026.060.0090.080.008HBA2026.060.0390.2230.037BALM22026.060.0520.5040.051HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.0551.9620.108DLO2026.060.0560.2570.053SC-PGO2026.060.1111.3020.123